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81 lines
2.7 KiB
81 lines
2.7 KiB
/* |
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* UAVCAN data structure definition for libcanard. |
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* |
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* Autogenerated, do not edit. |
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* |
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* Source file: E:\000_MyProjects\UAVCAN\libcanard_zrzk\dsdl_compiler\pyuavcan\uavcan\dsdl_files\uavcan\CoarseOrientation.uavcan |
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*/ |
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#ifndef __UAVCAN_COARSEORIENTATION |
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#define __UAVCAN_COARSEORIENTATION |
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#include <stdint.h> |
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#include "canard.h" |
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#ifdef __cplusplus |
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extern "C" |
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{ |
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#endif |
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/******************************* Source text ********************************** |
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# |
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# Nested type. |
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# Coarse, low-resolution 3D orientation represented as fixed axes in 16 bit. |
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# |
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# Roll, pitch, yaw angles in radians should be multiplied by |
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# ANGLE_MULTIPLIER in order to convert them to the coarse representation. |
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# |
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# ANGLE_MULTIPLIER = NORM / PI |
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# |
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# Where NORM is 12, because it: |
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# - Fits the maximum range of a signed 5 bit integer |
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# - Allows to exactly represent the following angles: |
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# 0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, and negatives |
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# |
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float32 ANGLE_MULTIPLIER = 4.7746482927568605 |
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int5[3] fixed_axis_roll_pitch_yaw |
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bool orientation_defined # False if the orientation is actually not defined |
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******************************************************************************/ |
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/********************* DSDL signature source definition *********************** |
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uavcan.CoarseOrientation |
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saturated int5[3] fixed_axis_roll_pitch_yaw |
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saturated bool orientation_defined |
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******************************************************************************/ |
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#define UAVCAN_COARSEORIENTATION_NAME "uavcan.CoarseOrientation" |
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#define UAVCAN_COARSEORIENTATION_SIGNATURE (0x271BA10B0DAC9E52ULL) |
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#define UAVCAN_COARSEORIENTATION_MAX_SIZE ((16 + 7)/8) |
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// Constants |
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#define UAVCAN_COARSEORIENTATION_ANGLE_MULTIPLIER 4.7746482927568605 // 4.7746482927568605 |
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#define UAVCAN_COARSEORIENTATION_FIXED_AXIS_ROLL_PITCH_YAW_LENGTH 3 |
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typedef struct |
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{ |
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// FieldTypes |
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int8_t fixed_axis_roll_pitch_yaw[3]; // Static Array 5bit[3] max items |
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bool orientation_defined; // bit len 1 |
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} uavcan_coarse_orientation_t; |
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extern |
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uint32_t uavcan_CoarseOrientation_encode(uavcan_coarse_orientation_t* source, void* msg_buf); |
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extern |
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int32_t uavcan_CoarseOrientation_decode(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_coarse_orientation_t* dest, uint8_t** dyn_arr_buf); |
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extern |
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uint32_t uavcan_CoarseOrientation_encode_internal(uavcan_coarse_orientation_t* source, void* msg_buf, uint32_t offset, uint8_t root_item); |
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extern |
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int32_t uavcan_CoarseOrientation_decode_internal(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_coarse_orientation_t* dest, uint8_t** dyn_arr_buf, int32_t offset); |
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#ifdef __cplusplus |
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} // extern "C" |
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#endif |
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#endif // __UAVCAN_COARSEORIENTATION
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